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4th International Summer School and Symposium of Medical Devices and Biosensors, ISSS-MDBS 2007

作者： Alexandra Oliveros, V. Vehi, Josep Gutierrez, Alfredo García-Gabín, Winston IEEE Universidad del Norte Department of Electrical Engineering Barranquilla Colombia Intelligent Systems and Control Engineering group Department of Electronics Informatics and Automatics Universitat de Girona Girona Spain Department of Electrical Engineering Researcher of the Robotics and Intelligent Systems Universidad del Norte Barranquilla Colombia

ISBN: (纸本)142441346X

The feasibility of the design of a closed loop system to control glucose levels in critical care patients is presented in this paper. Considering the basic elements for its construction: The plasma glucose detection using a subcutaneous sensor and a Kalman filter, the model of glucose metabolism, and having special consideration in the method to calculate the optimal insulin infusion designing classical control schemes (PID and PI) and a GPC (predictive controller). © 2007 IEEE.

关键词： Glucose

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Enhanced cathodic activity by tantalum inclusion at B-site of La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)based on structural property tailored via camphor-assisted solid-state reaction

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Journal of Advanced Ceramics 2022年第8期11卷 1330-1342页

作者： Dingyu XIONG Sefiu Abolaji RASAKI Yangpu LI Liangdong FAN Changyong LIU Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen UniversityShenzhen 518060China Department of Chemical and Petroleum Engineering University of CalgaryCalgary T2N1N4Canada College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China

Lanthanum strontium cobalt ferrite(LSCF)is an appreciable cathode material for solid oxide fuel cells(SOFCs),and it has been widely investigated,owing to its excellent thermal and chemical ***,its poor oxygen reduction reaction(ORR)activity,particularly at a temperature of≤800℃,causes setbacks in achieving a peak power density of>1.0 W·cm^(-2),limiting its application in the commercialization of *** improve the ORR of LSCF,doping strategies have been found ***,the porous tantalum-doped LSCF materials(La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)7Ta_(0.03)O_(3)(LSCFT-0),La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)4Ta0.06O_(3),and La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)Ta0.1O_(3))are prepared via camphor-assisted solid-state reaction(CSSR).The LSCFT-0 material exhibits promising ORR with area-specific resistance(ASR)of 1.260,_(0.5)80,0.260,0.100,and 0.06Ω·cm^(2)at 600,650,700,750,and 800℃,*** performance is about 2 times higher than that of undoped La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)with the ASR of 2.515,1.191,_(0.5)96,0.320,and 0.181Ω·cm^(2)from the lowest to the highest *** material characterization,it was found that the incorporated Ta occupied the B-site of the material,leading to the enhancement of the ORR *** the use of LSCFT-0 as the cathode material for anode-supported single-cell,the power density of>1.0 W·cm^(-2)was obtained at a temperature<800℃.The results indicate that the CSSR-derived LSCFT is a promising cathode material for SOFCs.

关键词： tantalum-doped lanthanum strontium cobalt ferrite(LSCF) solid oxide fuel cell(SOFC) oxygen reduction reaction(ORR) solid-state synthesis reaction clean energy conversion

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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DeepSeek or ChatGPT: Can brain-computer interfaces/brain-inspired computing achieve leapfrog development with large AI models?

Brain-X

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Brain-X 2025年第1期3卷

作者： Bai, Long Chen, Shugeng Wang, Peng Chen, He Yan, Jiaqing Zhu, Xiaojian Song, Enming Tian, Bobo Su, Jiacan Li, Xiaoli Organoid Research Center Institute of Translational Medicine Shanghai University Shanghai China Department of Orthopedics Xinhua Hospital Affiliated to Shanghai Jiao Tong University School of Medicine Shanghai China National Center for Translational Medicine (Shanghai) SHU Branch Shanghai University Shanghai China Wenzhou Institute of Shanghai University Zhejiang Wenzhou China Department of Rehabilitation Medicine Huashan Hospital Fudan University Shanghai China Department of Language Literature and Communication Faculty of Humanities Vrije Universiteit Amsterdam Amsterdam Netherlands School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou China Pazhou Laboratory Guangdong Guangzhou China School of Electrical and Control Engineering North China University of Technology Beijing China CAS Key Laboratory of Magnetic Materials and Devices and Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Zhejiang Ningbo China Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception Institute of Optoelectronics Fudan University Shanghai China Key Laboratory of Polar Materials and Devices Department of Electronics Ministry of Education East China Normal University Shanghai China

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A Novel Forwarding Method for Full-Duplex Two-Way Relay Networks

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China Communications 2017年第4期14卷 65-72页

作者： Shuangshuang Han Xiang Cheng Liuqing Yang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing China and Qingdao Academy of Intelligent Industries The State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science Peking University Department of Electrical and Computer Engineering Colorado State University

An estimate-and-forward(EF) scheme for single-input single-output(SISO) and multiple-input multiple-output(MIMO) full-duplex two-way relay networks is proposed and analyzed. The relay estimates the received signal from two terminal nodes by a minimum mean squared error(MMSE) estimation and forwards a scaled version of the MMSE estimate to the destination. The proposed EF outperforms conventional amplify-and-forward(AF) and decode-and-forward(DF) across all signal-to-noise ratio(SNR) region. Because its computational complexity is high for relays with a large number of antennas(large MIMO) and/or high order constellations, an approximate EF scheme, called list EF, are thus proposed to reduce the computational complexity. The proposed list EF computes a candidate list for the MMSE estimate by using a sphere decoder, and it approaches the performance of the exact EF relay at a negligible performance loss. The proposed forwarding approach also could be used to other relay networks, such as half-duplex, one-way or massive MIMO relay networks.

关键词： estimate-and-forward full-duplex two-way relay wireless communications

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A fuzzy-neural-network-based visual feedback learning control for robot manipulators

A fuzzy-neural-network-based visual feedback learning contro...

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International Joint Conference on Neural Networks (IJCNN)

作者： Il Hong Suh Tae Won Kim Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Gyeonggi South Korea

A visual feedback learning control algorithm is proposed for a robot manipulator equipped with joint position servos employing fuzzy-membership-function-based neural networks (FMFNN), where weightings of FMFNN's are adjusted in such a way that the robot manipulator with an eye in hand is capable of not only tracking a moving object along the line of sight but also stopping in front of a static object, wherever it is. The training mechanisms of FMFNN are extended to be applied to the control of dynamic systems. To show the validity of the proposed algorithm, several numerical examples are illustrated for a robot manipulator equipped with position servos.< >

关键词： Feedback Robot control intelligent robots Manipulator dynamics Servomechanisms Neural networks control systems Computer vision Jacobian matrices Robot motion

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Enhanced Robotic Vision System Based on Deep Learning and Image Fusion

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Computers, Materials & Continua 2022年第10期73卷 1845-1861页

作者： E.A.Alabdulkreem Ahmed Sedik Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Naglaa F.Soliman Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafrelsheikh33511Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt

Image fusion has become one of the interesting fields that attract researchers to integrate information from different image *** is involved in several *** of the recent applications is the robotic *** application necessitates image enhancement of both infrared(IR)and visible *** paper presents a Robot Human Interaction System(RHIS)based on image fusion and deep *** basic objective of this system is to fuse visual and IR images for efficient feature extraction from the captured ***,an enhancement model is carried out on the fused image to increase its *** image enhancement models such as fuzzy logic,Convolutional Neural Network(CNN)and residual network(ResNet)pre-trained model are utilized on the fusion results and they are compared with each other and with the state-of-the-art *** results prove that the fuzzy logic enhancement gives the best results from the image quality ***,the proposed system can be considered as an efficient solution for the robotic vision problem with multi-modality images.

关键词： Deep learning fuzzy logic image fusion IR images

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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